WORK SPACE FORCE/ACCELERATION DISTURBANCE OBSERVER AND ROBOT INCLUDING SAME

Abstract

Provided are a work space force/acceleration disturbance observer and a robot including same. This work space force/acceleration disturbance observer is connected to an impedance-based motion controller in a work space, and obtains a disturbance estimation value in consideration of an interaction force and acceleration applied to an end effector of a robot, wherein the disturbance estimation value is expressed by the following equation. D^ is a disturbance estimation value, Q is a Q filter, Fc' is a control input force, M^o is a mass matrix estimation value, x'' is acceleration, and Fext is an interaction force.